ardupilot/ArduCopter/sensors.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// Sensors are not available in HIL_MODE_ATTITUDE
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED
static void init_sonar(void)
{
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
sonar->calculate_scaler(g.sonar_type, 3.3f);
#else
sonar->calculate_scaler(g.sonar_type, 5.0f);
#endif
}
#endif
static void init_barometer(void)
{
gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
barometer.calibrate();
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
}
// return barometric altitude in centimeters
static int32_t read_barometer(void)
{
barometer.read();
return barometer.get_altitude() * 100.0f;
}
// return sonar altitude in centimeters
static int16_t read_sonar(void)
{
#if CONFIG_SONAR == ENABLED
// exit immediately if sonar is disabled
if( !g.sonar_enabled ) {
sonar_alt_health = 0;
return 0;
}
int16_t temp_alt = sonar->read();
if (temp_alt >= sonar->min_distance && temp_alt <= sonar->max_distance * SONAR_RELIABLE_DISTANCE_PCT) {
if ( sonar_alt_health < SONAR_ALT_HEALTH_MAX ) {
sonar_alt_health++;
}
}else{
sonar_alt_health = 0;
}
#if SONAR_TILT_CORRECTION == 1
// correct alt for angle of the sonar
float temp = cos_pitch_x * cos_roll_x;
temp = max(temp, 0.707f);
temp_alt = (float)temp_alt * temp;
#endif
return temp_alt;
#else
return 0;
#endif
}
#endif // HIL_MODE != HIL_MODE_ATTITUDE
static void init_compass()
{
if (!compass.init() || !compass.read()) {
// make sure we don't pass a broken compass to DCM
cliSerial->println_P(PSTR("COMPASS INIT ERROR"));
Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
return;
}
ahrs.set_compass(&compass);
#if SECONDARY_DMP_ENABLED == ENABLED
ahrs2.set_compass(&compass);
#endif
}
static void init_optflow()
{
#if OPTFLOW == ENABLED
if( optflow.init() == false ) {
g.optflow_enabled = false;
cliSerial->print_P(PSTR("\nFailed to Init OptFlow "));
Log_Write_Error(ERROR_SUBSYSTEM_OPTFLOW,ERROR_CODE_FAILED_TO_INITIALISE);
}else{
// suspend timer while we set-up SPI communication
hal.scheduler->suspend_timer_procs();
optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft
optflow.set_frame_rate(2000); // set minimum update rate (which should lead to maximum low light performance
optflow.set_resolution(OPTFLOW_RESOLUTION); // set optical flow sensor's resolution
optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view
// resume timer
hal.scheduler->resume_timer_procs();
}
#endif // OPTFLOW == ENABLED
}
// read_battery - check battery voltage and current and invoke failsafe if necessary
// called at 10hz
#define BATTERY_FS_COUNTER 100 // 100 iterations at 10hz is 10 seconds
static void read_battery(void)
{
static uint8_t low_battery_counter = 0;
if(g.battery_monitoring == BATT_MONITOR_DISABLED) {
battery_voltage1 = 0;
return;
}
if(g.battery_monitoring == BATT_MONITOR_VOLTAGE_ONLY || g.battery_monitoring == BATT_MONITOR_VOLTAGE_AND_CURRENT) {
batt_volt_analog_source->set_pin(g.battery_volt_pin);
battery_voltage1 = BATTERY_VOLTAGE(batt_volt_analog_source);
}
if(g.battery_monitoring == BATT_MONITOR_VOLTAGE_AND_CURRENT) {
static uint32_t last_time_ms;
uint32_t tnow = hal.scheduler->millis();
float dt_millis = tnow - last_time_ms;
current_amps1 = CURRENT_AMPS(batt_curr_analog_source);
if (last_time_ms != 0 && dt_millis < 2000) {
batt_curr_analog_source->set_pin(g.battery_curr_pin);
current_total1 += current_amps1 * 1000 * dt_millis * (1.0f/1000) * (1.0f/3600); //amps * amps to milliamps * milliseconds * milliseconds to seconds * seconds to hours
}
// update compass with current value
compass.set_current(current_amps1);
last_time_ms = tnow;
}
// check for low voltage or current if the low voltage check hasn't already been triggered
if (!ap.low_battery && ( battery_voltage1 < g.low_voltage || (g.battery_monitoring == BATT_MONITOR_VOLTAGE_AND_CURRENT && current_total1 > g.pack_capacity))) {
low_battery_counter++;
if( low_battery_counter >= BATTERY_FS_COUNTER ) {
low_battery_counter = BATTERY_FS_COUNTER; // ensure counter does not overflow
low_battery_event();
}
}else{
// reset low_battery_counter in case it was a temporary voltage dip
low_battery_counter = 0;
}
}
// read the receiver RSSI as an 8 bit number for MAVLink
// RC_CHANNELS_SCALED message
void read_receiver_rssi(void)
{
rssi_analog_source->set_pin(g.rssi_pin);
float ret = rssi_analog_source->voltage_average() * 50;
receiver_rssi = constrain_int16(ret, 0, 255);
}